An H∞ LPV Design for Sampling Varying Controllers : Experimentation with a T Inverted Pendulum

David Robert 1 Olivier Sename 1 Daniel Simon 1
1 NECS - Networked Controlled Systems
Inria Grenoble - Rhône-Alpes, GIPSA-DA - Département Automatique
Abstract : This report deals with the adaptation of a real-time controller's sampling period to account for the available computing resource variations. The design of such controllers requires a parameter-dependent discrete-time model of the plant, where the parameter is the sampling period. A polytopic approach for LPV (Linear Parameter Varying) systems is then developed to get an H∞ sampling period dependent controller. A reduction of the polytope size is here performed which drastically reduces the conservatism of the approach and makes easier the controller implementation. Some experimental results on a T inverted pendulum are provided to show the efficiency of the approach.
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https://hal.inria.fr/inria-00193865
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Submitted on : Tuesday, January 27, 2009 - 3:36:42 PM
Last modification on : Saturday, October 6, 2018 - 1:15:35 AM
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  • HAL Id : inria-00193865, version 3

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David Robert, Olivier Sename, Daniel Simon. An H∞ LPV Design for Sampling Varying Controllers : Experimentation with a T Inverted Pendulum. [Research Report] RR-6380, INRIA. 2007, pp.25. ⟨inria-00193865v3⟩

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